The invention discloses a Chinese massage robot, relating to the field of Chinese massage mechanical and automatic devices. The Chinese massage robot is characterized by comprising a bed body (16), a spatial six degrees of freedom main body mechanism and a massage hand (15) and can realize a palm-rubbing technique, a scrubbing method, a pushing manipulation, a wiping manipulation, a pressing manipulation, a pointing method, a finger-nail pressing method, a clapping method, a striking method, a rebounding method, a rolling method, a palm-kneading method, a finger-kneading method, a tremble manipulation, a shaking manipulation, a holding method, a kneading method, a plucking method, a pushing method, a twisting method, a pulling and turning method, a stretching method and other general single-hand and dual-hand massage methods. The invention has the advantages of simple structure, high rigidity, small size, light weight, low cost, large motion space, sensitive and quick action, favorable decoupling, real-time and dynamic response characteristics of system control, and the like.